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Table 2 Specifications of SCalf-II, HIT, SJTU, and CNVI quadruped robots [26,27,28]

From: Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review

Specifications

SCalf-II

HIT

SJTU

CNVI

Length × width × height (m)

1.1 × 0.49 × 1

‒

1.2 × 0.5 × 1

1.2 × 0.7 × 1

Weight (kg)

123

150

130

130

Payload (kg)

120

52

50

50

Max speed (km/h)

5

4.32

3.74

6

Gaits

Trot

Hopping

Creep

Trot

Creep

Trot

Creep

Trot

Active DOFs

3

3

3

3

Passive DOFs

1

1

3

‒

Running time (min)

40

40

40

120

Slope (°)

10

10

10

30

Obstacle height (mm)

150

150

150

‒